WO2013145216A1 - 運転支援装置 - Google Patents
運転支援装置 Download PDFInfo
- Publication number
- WO2013145216A1 WO2013145216A1 PCT/JP2012/058383 JP2012058383W WO2013145216A1 WO 2013145216 A1 WO2013145216 A1 WO 2013145216A1 JP 2012058383 W JP2012058383 W JP 2012058383W WO 2013145216 A1 WO2013145216 A1 WO 2013145216A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- driving
- driving support
- support
- sound
- Prior art date
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- 238000010586 diagram Methods 0.000 description 19
- 238000001514 detection method Methods 0.000 description 12
- 230000007613 environmental effect Effects 0.000 description 11
- 230000001965 increasing effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000005236 sound signal Effects 0.000 description 9
- 238000001228 spectrum Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H7/00—Measuring reverberation time ; room acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
- H04R1/00—Details of transducers, loudspeakers or microphones
- H04R1/08—Mouthpieces; Microphones; Attachments therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/64—Luminous indications
Definitions
- the present invention relates to a driving support device.
- the temporary stop intersection detection apparatus described in Patent Document 1 is an intersection at which an intersection ahead of the host vehicle should be temporarily stopped based on the approaching state of the host vehicle to the intersection and the traveling state of the other vehicle. Whether or not the vehicle is approaching to the temporary stop intersection, and a warning is issued to the driver.
- This invention is made in view of the above, Comprising: It aims at providing the driving assistance apparatus which can suppress that driving assistance is performed in scenes other than the intersection which needs driving assistance. .
- a driving support device is mounted on a host vehicle, detects a sound information around the host vehicle, and driving support that executes driving support. And determining whether or not the driving support can be executed and a driving support level when the driving support is executed based on an echo sound of the sound emitted from the vehicle included in the sound information detected by the microphone. And a support determination unit.
- the support determining unit determines that an obstacle exists around the host vehicle based on a reverberation sound of the sound emitted from the host vehicle included in the sound information from the microphone. In this case, it is preferable to make a decision to execute the driving assistance.
- the support determination unit executes the driving support when it is determined that the obstacle is present, and performs the driving support when it is determined that the obstacle does not exist. It is preferable to make a decision not to do so.
- the support determination unit determines to increase the support level as compared with the case where it is determined that the obstacle does not exist. It is preferable.
- the driving support device has an effect that it is possible to suppress the driving support from being executed in a scene other than the intersection where the driving support is necessary.
- FIG. 1 is a schematic diagram of a vehicle including a driving support apparatus according to an embodiment.
- FIG. 2 is a schematic view of the inside of the vehicle shown in FIG.
- FIG. 3 is an AA arrow view of FIG. 4 is a detailed view of a portion B in FIG.
- FIG. 5 is a main part configuration diagram of the driving support device shown in FIG. 1.
- FIG. 6 is an explanatory diagram for driving assistance when entering an intersection.
- FIG. 7 is an explanatory diagram when the environment around the vehicle is determined based on sound information detected by the microphone.
- FIG. 8A is an explanatory diagram for determining the presence or absence of a shielding object based on a change in frequency characteristics, and is an explanatory diagram illustrating a state where there is no shielding object.
- FIG. 8A is an explanatory diagram for determining the presence or absence of a shielding object based on a change in frequency characteristics, and is an explanatory diagram illustrating a state where there is no shielding object.
- FIG. 8B is an explanatory diagram when determining the presence or absence of a shielding object based on a change in frequency characteristics, and is an explanatory diagram illustrating a state where the shielding object exists.
- FIG. 9A is an explanatory diagram in the case where the presence or absence of a shielding object is determined based on correlation values of sounds detected by a plurality of microphones, and is an explanatory diagram illustrating a state where there is no shielding object.
- FIG. 9-2 is an explanatory diagram for determining the presence or absence of a shielding object based on the correlation values of sounds detected by a plurality of microphones, and is an explanatory diagram showing a state where the shielding object exists.
- FIG. 10 is a flowchart when driving assistance is performed by the driving assistance apparatus according to the embodiment.
- FIG. 1 is a schematic diagram of a vehicle including a driving support apparatus according to an embodiment.
- the vehicle 1 including the driving support device 2 according to the embodiment includes an engine 5 that is an internal combustion engine as a power source, and the power generated by the engine 5 is transmitted to the wheels 3 via a drive device such as the transmission 6. It is possible to run.
- the vehicle 1 is provided with a brake device that is a braking means that brakes the vehicle 1 that is running by braking the wheels 3, and a brake hydraulic pressure control device 10 that controls the hydraulic pressure when the brake device is operated.
- the drive device is provided with a vehicle speed sensor 21 which is a vehicle speed detection means for detecting the vehicle speed by detecting the rotational speed of the output shaft of the drive device.
- the vehicle 1 is provided with an accelerator pedal 15 and a brake pedal 16 that are used when the driver performs a driving operation.
- an accelerator that detects the amount of operation of the accelerator pedal 15 is located in the vicinity of the accelerator pedal 15.
- a sensor 22 is provided.
- the brake hydraulic pressure control device 10 is provided with a brake pressure sensor 23 that detects an operation amount of the brake pedal 16 by detecting a brake pressure that is a hydraulic pressure when the brake pedal 16 is operated.
- the vehicle 1 is provided with a steering wheel 17 used when the driver steers the steering wheel.
- the steering wheel 17 is connected to an EPS (Electric Power Steering) device 12 that is an electric power steering device. .
- the steering wheel 17 is provided via the EPS device 12 so as to be able to steer front wheels that are steering wheels.
- the EPS device 12 thus provided is provided with a steering angle sensor 24 which is a steering angle detection means for detecting a steering angle which is a rotation angle of the steering wheel 17.
- the vehicle 1 is provided with a microphone 32 as environmental information acquisition means for acquiring environmental information around the host vehicle 1.
- the microphone 32 is disposed in the vicinity of the front end of the vehicle 1, and detects the sound information around the vehicle 1, so that the vehicle 1 can detect the state around the vehicle 1 and the road on which the vehicle 1 is traveling.
- a plurality of microphones 32 are provided, for example, on a front bumper of the vehicle 1, and surrounding sound information including the direction of sound can be detected by the plurality of microphones 32.
- the microphone 32 is located in front of the vehicle 1 or the presence of a shield around the vehicle 1 based on sound information transmitted from the surroundings of the vehicle 1 or reverberations of sounds emitted from the vehicle 1. It is possible to detect the presence of a moving body such as an approaching vehicle that moves in a blind spot area on a road intersecting at an intersection.
- a notification lamp 53 is provided on the side surface of the bumper on the front side of the vehicle 1 to notify the mobile body existing on the front side of the vehicle 1 of the presence of the host vehicle 1.
- the notification lamps 53 are disposed on the left and right side surfaces near the front end of the vehicle 1, and can emit light toward the front side of the vehicle 1 by being lit.
- FIG. 2 is a schematic view of the inside of the vehicle shown in FIG.
- FIG. 3 is an AA arrow view of FIG. 4 is a detailed view of a portion B in FIG.
- an alarm device 50 that constitutes driving support means for notifying a driver of predetermined information is installed on the dashboard 40.
- the alarm device 50 includes a display unit 51 that visually informs a driver of information and a buzzer 52 that informs information by sound.
- the alarm device 50 includes the display unit 51 and the buzzer 52 as described above, thereby enabling driving assistance by notification using sound and light.
- an operation mode changeover switch 55 for switching the operation mode of the driving support device 2 according to the present embodiment is provided in the vehicle.
- the driving support device 2 can switch the operation mode between an auto mode that automatically operates and a manual mode in which the driver switches between ON and OFF of the operation. And switch to manual mode.
- the steering wheel 17 is provided with a steering switch 56 that can be switched ON and OFF when the operation mode switching switch 55 is switched to the manual mode.
- the steering switch 56 is provided as support request means for switching between driving support operation and stop at the driver's will.
- the mode switch 55 and the steering switch 56 are mounted on the vehicle 1 and connected to an ECU (Electronic Control Unit) that controls each part of the vehicle 1.
- ECU Electronic Control Unit
- a travel control ECU 60 that performs travel control of the vehicle 1 and a drive support ECU 70 that performs drive support control, which is control for driving support of the driver while the vehicle 1 is traveling, are provided.
- FIG. 5 is a main part configuration diagram of the driving support apparatus shown in FIG.
- a device that operates when the vehicle 1 such as the engine 5 and the brake hydraulic pressure control device 10 and a detection unit that detects the traveling state of the vehicle 1 such as the vehicle speed sensor 21 are connected to the travel control ECU 60. It is connected.
- the travel control ECU 60 is also connected with detection means for detecting the state of the driving operation by the driver, such as the accelerator sensor 22, the brake pressure sensor 23, and the steering angle sensor 24.
- devices used for driving support control such as the alarm device 50, the operation mode changeover switch 55, the steering switch 56, and the like are connected to the driving support ECU 70.
- the travel control ECU 60 and the driving support ECU 70 are connected to each other so that information and signals can be exchanged.
- the hardware configuration of the travel control ECU 60 and the driving support ECU 70 is a known configuration including a processing unit having a CPU (Central Processing Unit), a storage unit such as a RAM (Random Access Memory), and the like. Is omitted.
- the travel control ECU 60 includes an engine control unit 61 that controls the operation of the engine 5, a brake control unit 62 that controls the braking force by controlling the brake hydraulic pressure control device 10, and the vehicle speed sensor 21.
- a vehicle speed acquisition unit 63 that is a vehicle speed acquisition unit that acquires vehicle speed information from the detection result of the vehicle; an accelerator opening acquisition unit 64 that acquires an accelerator operation amount that is an operation amount of the accelerator pedal 15 from the detection result of the accelerator sensor 22;
- the brake operation acquisition unit 65 that acquires the brake operation amount that is the operation amount of the brake pedal 16 from the detection result of the brake pressure sensor 23, and the steering state of the steering wheel 17 is acquired from the detection result of the steering angle sensor 24.
- a steering angle acquisition unit 66 is provided as driving operation acquisition means for acquiring information on the driving operation of the driver.
- the driving support ECU 70 includes an operation state control unit 71 that controls the operation state of the driving support control based on the states of the operation mode changeover switch 55 and the steering switch 56, a microphone control unit 73 that controls the microphone 32, and a vehicle.
- the vehicle 1 is detected by an intersection determination unit 75 that is an intersection determination unit that determines whether or not the vehicle 1 is heading for an intersection that requires driving assistance, and the microphone 32.
- a support determination unit 76 that is a support determination unit that determines whether or not the driving support can be executed based on the echo sound of the sound emitted from the vehicle 1 and the driving support level, and driving support.
- a support execution unit 80 that constitutes driving support means for executing support for inducing danger avoidance.
- the support execution unit 80 included in the driving support ECU 70 controls the alarm control unit 81 that issues a warning to the driver by operating the alarm device 50 and the notification lamp 53, thereby detecting the presence of the host vehicle 1.
- a notification control unit 83 that performs control to notify the surroundings.
- the driving support device 2 is configured as described above, and the operation thereof will be described below.
- the driver operates the accelerator pedal 15 and the brake pedal 16 to actuate the actuators such as the engine 5 and the brake hydraulic pressure control device 10, and the vehicle 1 responds to the driving operation of the driver.
- the engine control unit 61 included in the travel control ECU 60 responds to the driver's request by controlling the engine 5 according to the accelerator operation amount acquired by the accelerator opening acquisition unit 64 based on the detection result of the accelerator sensor 22. Generate driving force along.
- the brake pedal 16 by operating the brake pedal 16, the hydraulic pressure when the brake device is operated is generated in the brake hydraulic pressure control device 10, and the brake device is operated by this hydraulic pressure, and the braking force is generated.
- the brake hydraulic pressure which is the hydraulic pressure generated by the brake hydraulic control device 10 when the brake pedal 16 is operated, is detected by the brake pressure sensor 23 and acquired by the brake operation acquisition unit 65.
- the brake operation acquisition unit 65 acquires the brake hydraulic pressure as a brake operation amount of the driver.
- the traveling state of the vehicle 1 is detected by sensors provided in each part of the vehicle 1 and used for traveling control of the vehicle 1.
- the vehicle speed information detected by the vehicle speed sensor 21 is acquired by the vehicle speed acquisition unit 63 included in the travel control ECU 60, and is used when travel control is performed using the vehicle speed information.
- the driving support device 2 can perform driving support by alerting the driver when the vehicle 1 is traveling. Specifically, in order to prevent collision with other vehicles such as other vehicles moving on the road intersecting the road on which the host vehicle 1 travels, the vehicle travels with more attention than normal travel. When the host vehicle 1 enters an intersection that needs to be operated, driving assistance can be performed.
- Driving support performed by the driving support device 2 is performed by the alarm device 50 using sound information detected by the microphone 32. That is, in the driving support device 2 according to the present embodiment, the alarm device 50 is controlled based on the sound information detected by the microphone 32 provided as an environmental information acquisition unit that acquires environmental information around the host vehicle 1, Driving assistance is performed by alerting the driver.
- FIG. 6 is an explanatory diagram for driving support when approaching an intersection.
- the driving support by the driving support device 2 will be described.
- an intersection 93 having a temporary stop line 94 in the traveling direction of the vehicle 1 or the like.
- Driving assistance is executed when there is an intersection 93 that requires attention. Whether or not there is an intersection 93 that requires more attention in the traveling direction of the vehicle 1 and needs driving assistance is determined based on the traveling state of the vehicle 1 and the state of the driving operation of the driver.
- the vehicle speed acquired by the vehicle speed acquisition unit 63 is equal to or lower than a predetermined speed
- the accelerator operation amount acquired by the accelerator opening acquisition unit 64 and the brake operation amount acquired by the brake operation acquisition unit 65 are respectively
- the intersection determination unit 75 included in the driving assistance ECU 70 determines that there is an intersection 93 that requires driving assistance.
- the driver when the vehicle 1 enters the intersection 93 where it is necessary to provide driving assistance such as alerting the driver, that is, when the vehicle 1 enters the intersection 93 where it is necessary to travel more carefully, the driver reduces the vehicle speed, At least one of the accelerator pedal 15 and the brake pedal 16 is completely returned, and the other is fully returned or entered with a slight depression.
- the accelerator operation amount and the brake operation amount are both equal to or less than a predetermined reference value
- the vehicle 1 slowly enters the intersection 93 with both the accelerator operation amount and the brake operation amount being small, and the vehicle speed being low. To do. That is, the driver slowly enters the own vehicle 1 into the intersection 93 while checking the status of the moving body 96 such as the approaching vehicle 97 and the pedestrian 98 that moves on the intersection road 92 that intersects the traveling road 91.
- the intersection determination unit 75 is configured to drive the vehicle 1 in order to reduce the accelerator operation amount and the brake operation amount and enter the vehicle at a low speed.
- the state and the driving state of the driver satisfy these conditions except in the stopped state, it is determined that the vehicle 1 is facing such an intersection 93.
- driving determination device 75 determines that the vehicle has entered such an intersection 93 when the driving support device 2 has been switched to a state in which driving support is activated by the operation mode switching switch 55 or the steering switch 56, Perform assistance.
- driving support control such as alerting the driver is performed by the support execution unit 80 of the driving support ECU 70, so that driving support for the driver is performed.
- the sound from the moving body 96 such as the approaching vehicle 97 traveling on the cross road 92 and approaching the host vehicle 1 is detected by the microphone 32, and the moving body 96 is approaching based on the detected sound information.
- the microphone control unit 73 included in the driving assistance ECU 70 controls the microphone 32 to detect sound information around the host vehicle 1, and the sound information detected by the microphone 32 is acquired by the microphone control unit 73. To do.
- the alarm to the driver is performed by controlling the alarm device 50 with the alarm control unit 81 included in the support execution unit 80.
- the alarm control unit 81 controls the alarm device 50 to display the presence of the moving body 96 on the intersection road 92 on the display unit 51 of the alarm device 50 or to send an alarm sound from the buzzer 52 of the alarm device 50. To do. As a result, a warning is given to the driver, and driving assistance for alerting the driver is performed.
- the notification control unit 83 of the support execution unit 80 has a notification function according to the relative relationship between the host vehicle 1 and the moving body 96.
- the notification lamp 53 is caused to emit light.
- the mobile body 96 is made aware of the presence of the host vehicle 1 and alerts the mobile body 96.
- the strength of the assistance is changed according to the state of the host vehicle 1 and the state of the moving body 96. For example, when the vehicle enters the intersection 93, whether or not the driving assistance can be executed and the assistance level when the driving assistance is executed are determined from the sound information detected by the microphone 32, and the driving assistance is controlled. When these are determined from the sound information detected by the microphone 32, the echo sound of the sound emitted from the vehicle 1 is detected by the microphone 32, and the state of the environment around the vehicle 1 is judged by this echo sound, and driving Decide whether or not to implement support and the support level.
- the vehicle 1 since the vehicle 1 travels with the power generated by the engine 5, while the vehicle 1 is traveling, a traveling sound such as an operating sound during the operation of the engine 5 is generated, but there are obstacles around the vehicle 1. When doing so, a part of the sound emitted from the vehicle 1 is reflected by the obstacle and bounces back to the own vehicle 1 side. For this reason, when the sound information detected by the microphone 32 includes information on the sound emitted from the host vehicle 1, it is determined that an obstacle exists around the host vehicle 1.
- FIG. 7 is an explanatory diagram when the environment around the vehicle is determined based on sound information detected by the microphone.
- a shielding object 102 such as a wall on one side and the other is an open space 100 without a wall or the like
- the sound emitted by the vehicle 1 Then, the sound is reflected by the shielding object 102, and the sound is dispersed on the open space 100 side. For this reason, the sound emitted from the vehicle 1 and reflected by the shielding object 102 is directed to the microphone 32 from the shielding object 102 side.
- the microphones 32 provided in the vicinity of the front end of the vehicle 1 are arranged closer to the shielding object 102 than the microphones 32 arranged at positions closer to the open space 100. Since the direction is closer to the shielding object 102, the sound reflected by the shielding object 102 is detected earlier. Therefore, the side where the shield 102 is located can be estimated based on the time difference between the sounds detected by the plurality of microphones 32.
- FIGS. 8A and 8B are explanatory diagrams in the case where the presence or absence of the shielding object is determined based on the change in the frequency characteristics
- FIG. 8-1 is a state where there is no shielding object
- FIG. It is explanatory drawing which shows the state in which a shield exists.
- the determination is made based on the power spectrum of the sound detected by the microphone 32. For example, in the vicinity of the intersection 93 where there is no shielding object 102, since the engine sound and fan sound from the host vehicle 1 do not reverberate by the shielding object 102, the power spectrum of the sound detected in the vicinity of such an intersection 93 is when opening.
- the power spectrum 105 is generally flat with respect to the frequency (FIG. 8-1).
- the shielding object 102 exists around the host vehicle 1.
- FIGS. 9-1 and 9-2 are explanatory diagrams in the case where the presence or absence of a shielding object is determined based on the correlation value of sound detected by a plurality of microphones.
- FIG. FIG. 9-2 is an explanatory diagram illustrating a state where a shielding object exists.
- the presence / absence of the shielding object 102 based on the sound information detected by the microphones 32 can also be determined based on the correlation value of the sound information detected by the plurality of microphones 32. That is, in the vicinity of the intersection 93 where there is no shielding object 102, since the engine sound or the like from the host vehicle 1 does not reverberate at the shielding object 102, the sound volume is almost the same at any point.
- the open-time correlation value 110 which is the correlation value between sound information detected by the plurality of microphones 32 in the vicinity of such an intersection 93, is substantially 0 (FIG. 9-1).
- the shielding correlation value 112 which is the correlation value between sound information detected by the plurality of microphones 32 near the intersection 93 where the shielding object 102 exists, is higher than the opening correlation value 110 (FIG. 9-2). ).
- the correlation value of the sound information detected by the plurality of microphones 32 is high, it can be estimated that the shielding object 102 exists around the host vehicle 1.
- the intersection determination unit 75 determines that the vehicle 1 enters the intersection 93 that requires driving assistance
- the intersection 93 such as the shielding object 102 in the vicinity of the intersection 93 is based on the sound information detected by the microphone 32 as described above.
- the presence / absence of a nearby obstacle is determined by a support determination unit 76 included in the driving support ECU 70. That is, when it is determined that there is an intersection 93 that requires driving assistance in the traveling direction of the vehicle 1, the support determination unit 76 determines based on sound information detected by the microphone 32 and responds to the presence or absence of an obstacle. Thus, it is determined whether or not the driving support can be executed, and the support level when the driving support is executed.
- driving assistance is executed. Decide whether or not to lower the support level. Further, when it can be determined that the shielding object 102 exists on one side in the left-right direction of the vehicle 1 and the open side 100 is on the opposite side, the direction in which the shielding object 102 exists or the own vehicle 1 and the shielding object 102 In accordance with the distance to the vehicle, etc., a decision is made to lower the assistance level at the time of driving assistance.
- the support determination unit 76 determines that the support level is increased when it is determined that the shielding object 102 exists around the host vehicle 1 as compared with the case where it is determined that the shielding object 102 does not exist.
- the driving support level to be changed according to the state of the obstacle is changed depending on the degree of alerting the driver. That is, in driving support by emitting predetermined light on the display unit 51 of the alarm device 50, the driving support support level is changed by changing the amount of light or the color at the time of light emission or blinking. More specifically, for example, the intensity of driving assistance is increased by increasing the amount of light at the time of light emission, increasing the brightness, making the color conspicuous such as red, or blinking. Further, in driving support by generating an alarm sound from the buzzer 52 of the alarm device 50, the driving support support level is changed by changing the volume and frequency of the alarm sound generated from the buzzer 52. More specifically, for example, the strength of driving assistance is increased by increasing the volume of the warning sound or increasing the sound.
- the driving support by the driving support device 2 can be switched automatically when the vehicle enters the intersection 93 or by the driver arbitrarily by switching the operation mode switch 55.
- the operation mode change-over switch 55 is operated when the vehicle 1 enters the intersection 93 and automatically when the vehicle 1 enters the intersection 93 according to the state of the host vehicle 1 and the surrounding environment. It is possible to switch to a manual mode in which the driver can select whether or not to perform support.
- the operation mode changeover switch 55 when the operation mode changeover switch 55 is in the manual mode, ON / OFF of driving assistance at the time of entering the intersection 93 is switched by switching ON / OFF of the steering switch 56 disposed on the steering wheel 17. It is possible to switch.
- the states of the operation mode changeover switch 55 and the steering switch 56 are acquired by the operation state control unit 71 included in the driving support ECU 70, and the driving support ECU 70 operates according to the state of the switch acquired by the operation state control unit 71. Perform support control.
- the operation state control unit 71 enters the intersection 93 with respect to the support execution unit 80 when the operation mode switch 55 is in the auto mode, and when the operation mode switch 55 is in the manual mode and the steering switch 56 is ON. Execute driving assistance at the time. In contrast, the operation state control unit 71 prevents the support execution unit 80 from executing driving support when the operation mode changeover switch 55 is in the manual mode and the steering switch 56 is OFF.
- the driving support device 2 determines that the vehicle 1 is located at the intersection 93 that requires driving support based on the driving state of the vehicle 1 and the driving state of the driver. Whenever it is determined that the vehicle enters, the driving support control is performed.
- the driving support device 2 has its own vehicle in the intersection 93 where it is determined that the driving support is necessary with the steering switch 56 being ON.
- driving support control is performed.
- the driving support device 2 can drive even when the vehicle 1 enters the intersection 93 where driving support is determined to be necessary. Does not perform support control.
- FIG. 10 is a flowchart when driving assistance is performed by the driving assistance apparatus according to the embodiment.
- an outline of a processing procedure when driving support is performed by the driving support device 2 according to the present embodiment will be described. Note that the following processing is called and executed every predetermined time during the travel control of the vehicle 1.
- the driving assistance flow is called while the vehicle 1 is traveling, it is first determined whether or not the vehicle speed V ⁇ V1 (step ST101). This determination is performed by the intersection determination unit 75 included in the driving support ECU 70.
- the intersection determination unit 75 compares the current vehicle speed V, which is the vehicle speed information acquired by the vehicle speed acquisition unit 63 of the travel control ECU 60, with a predetermined reference speed V1, thereby determining whether the vehicle speed V is less than or equal to the reference speed V1. Determine whether.
- the reference speed V1 is set in advance as a reference value for determining whether there is an intersection 93 that requires driving assistance based on the vehicle speed, and is stored in the storage unit of the driving assistance ECU 70. .
- step ST101 Yes determination
- step ST102 the intersection determination unit 75 compares the current accelerator operation amount A acquired by the accelerator opening acquisition unit 64 of the travel control ECU 60 with a predetermined reference value A1, whereby the accelerator operation amount A is equal to or less than the reference value A1. It is determined whether or not.
- the reference value A1 is set in advance as a reference value for determining whether there is an intersection 93 that requires driving assistance based on the accelerator operation amount, and is stored in the storage unit of the driving assistance ECU 70. ing.
- step ST102 when it is determined by the determination at the intersection determination unit 75 that the accelerator operation amount A ⁇ A1 (step ST102, Yes determination), it is next determined whether or not the brake pressure P ⁇ P1.
- the determination is performed by the intersection determination unit 75 (step ST103).
- the intersection determination unit 75 compares the brake pressure P acquired by the brake operation acquisition unit 65 of the travel control ECU 60 with the predetermined reference value P1 as the current brake operation amount, so that the brake pressure P is equal to or less than the reference value P1. It is determined whether or not.
- the reference value P1 is set in advance as a reference value for determining whether or not there is an intersection 93 that requires driving assistance based on the amount of brake operation, and is stored in the storage unit of the driving assistance ECU 70. ing.
- step ST103 No determination
- the operation mode of the driving support device 2 is the auto mode.
- the manual mode is determined (step ST104). This determination is performed by the operation state control unit 71 included in the driving support ECU 70.
- the operation state control unit 71 acquires the state of the operation mode changeover switch 55 and determines whether the mode selected by the operation mode changeover switch 55 is the auto mode or the manual mode.
- the operation state control unit 71 acquires a signal of the steering switch 56 (step ST105). If the signal of steering switch 56 is acquired, it will be judged by operation state control part 71 whether the acquired signal is ON (Step ST106). If it is determined by the operation state control unit 71 that the steering switch 56 is not ON (No in step ST106), that is, if it is determined that the steering switch 56 is OFF, this processing procedure is performed. Get out of.
- step ST107 driving assistance is executed (step ST107).
- the alarm control unit 81 included in the support execution unit 80 of the driving support ECU 70 controls the alarm device 50 to alert the user that the moving body 96 exists. That is, the alarm control unit 81 controls the alarm device 50 based on the state of the moving body 96 such as the approaching vehicle 97 detected from the sound information acquired by the microphone control unit 73, thereby causing the display unit 51 of the alarm device 50 to A warning is displayed or an alarm sound is transmitted from the buzzer 52. Accordingly, the driver recognizes the moving body 96 and performs a driving operation to avoid a collision.
- step ST104 sound information around the host vehicle 1 is acquired (step ST108). That is, the microphone 32 is controlled by the microphone control unit 73, and the sound information around the host vehicle 1 is acquired by detecting the sound information with the plurality of microphones 32. More specifically, sound information including a reverberation sound of the sound emitted from the host vehicle 1 is acquired by the microphone 32.
- step ST109 it is determined whether or not the own vehicle sound signal S ⁇ S1 (step ST109). This determination is performed by the support determination unit 76 included in the driving support ECU 70. First, the support determining unit 76 selects a power spectrum (see FIGS. 8-1 and 8-2) and a correlation value (see FIGS. 9-1 and 8-2) from the sound information around the host vehicle 1 acquired by the microphone control unit 73. Based on FIG. 9-2), the own vehicle sound signal S, which is a reverberant signal of the sound emitted by the own vehicle 1, is derived. The support determination unit 76 determines whether or not the own vehicle sound signal S is equal to or greater than the reference value S1 by comparing the own vehicle sound signal S thus derived with a predetermined reference value S1.
- the reference value S1 is used to determine whether or not driving assistance is unnecessary because the state of obstacles around the host vehicle 1 is a state in which good visibility can be obtained.
- 1 is set in advance as a reference value when performing based on the reverberation sound of the sound emitted by 1, and is stored in the storage unit of the driving assistance ECU 70.
- step ST109, No determination When it is determined by the determination in the support determination unit 76 that the vehicle sound signal S ⁇ S1 is not satisfied (step ST109, No determination), that is, when the vehicle sound signal S is determined to be less than the reference value S1. To get out of this procedure. That is, when the own vehicle sound signal S is smaller than the reference value S1, there are not many obstacles around the own vehicle 1, the field of view is good, and the visibility of the intersection road 92 from the traveling road 91 is good. Indicates the state. For this reason, in such a case, the support determination unit 76 determines not to perform driving support.
- the alarm control unit 81 controls the alarm device 50.
- driving assistance is executed (step ST107).
- the support determination unit 76 determines a support level at the time of execution of driving support based on the own vehicle sound signal S.
- the determined support level is transmitted to the alarm control unit 81, and the alarm control unit 81 controls the alarm device 50 according to the transmitted support level.
- the alarm device 50 performs driving support at a support level according to the state of an obstacle such as the shield 102 around the host vehicle 1, that is, a support level according to the visibility of the cross road 92.
- the driver appropriately recognizes the moving body 96 moving on the intersection road 92 and performs a driving operation to avoid a collision.
- the driving support apparatus 2 detects sound information around the vehicle 1 with the microphone 32, and reverberates when the sound emitted from the vehicle 1 is reflected by an obstacle located in the vicinity of the intersection 93. Based on the sound, the support determination unit 76 determines whether or not driving support can be executed and the support level. Thus, the support execution unit 80 can perform driving support without excess or deficiency in accordance with the visibility of the intersection road 92 from the traveling road 91. As a result, it is possible to prevent the driving assistance from being executed in a scene other than the intersection 93 that requires driving assistance.
- the driving support is executed.
- Driving assistance can be reliably executed at the intersection 93 with poor visibility. As a result, it can suppress more reliably that driving assistance is performed in scenes other than the intersection 93 which needs driving assistance.
- the microphone 32 is used as the environmental information acquisition unit.
- the environmental information acquisition unit that acquires the environmental information around the host vehicle 1 is used.
- Other environmental information acquisition means may be used.
- a camera capable of photographing the surroundings of the host vehicle 1 or a radar that detects an object using detection waves such as electromagnetic waves, infrared rays, and lasers may be used.
- the environmental information acquisition means only needs to have a microphone 32 that detects sound information used for determining the presence or absence of an obstacle such as the shielding object 102.
- environmental information around the host vehicle 1 can be obtained. By using what can be acquired, environmental information around the host vehicle 1 can be acquired with higher accuracy.
- the sound used for determining whether driving support is possible or determining the support level is a sound emitted from the host vehicle 1 when the host vehicle 1 is driven, such as an engine sound of the host vehicle 1.
- the sound used for determining whether driving assistance is possible may be other sounds.
- a dedicated sound used for determining whether or not driving support is possible is emitted from the own vehicle 1, the echo sound of this sound is detected by the microphone 32, and whether or not driving support is determined by judging the state of an obstacle. Also good.
- the driving support for the driver is only an alarm using the alarm device 50, but the driving support may be performed by other methods.
- the driving force and the braking force are adjusted regardless of the driving operation of the driver, or the steering torque for urging to steer in the safe direction is transmitted to the driver via the EPS device 12 to approach the driver.
- Driving assistance for avoiding contact between the moving body 96 such as the vehicle 97 and the host vehicle 1 may be performed.
- the driving assistance is not limited as long as the vehicle 1 can travel safely.
- the order of determining whether or not the current value of these states is equal to or less than the reference value is not limited to that described above. That is, in the above-described processing procedure, the determination is made in the order of the vehicle speed, the accelerator operation amount, and the brake pressure (steps ST101 to ST103), but this order may be other than the order described above.
- step ST104 it is determined whether the operation mode is the auto mode or the manual mode (step ST104), and whether the signal of the steering switch 56 is ON (step ST104). Although step ST106) is performed, this determination may not be performed. When these determinations are not performed, if it is determined that the brake pressure P ⁇ P1 (Yes in step ST103), sound information around the host vehicle 1 may be acquired (step ST108). .
- the driving support device 2 may appropriately combine the configurations and controls used in the above-described embodiments and modifications, or may use other than the above-described configurations and controls. Regardless of the configuration and control method of the driving support device 2, the sound information around the host vehicle 1 is acquired by the microphone 32, and the driving support is determined based on the acquired sound information and the driving support level is determined. It is possible to prevent the driving assistance from being executed in scenes other than the intersection 93 that requires.
- Vehicle 2 Driving Support Device 5 Engine 10 Brake Hydraulic Control Device 12 EPS Device 15 Accelerator Pedal 16 Brake Pedal 21 Vehicle Speed Sensor 22 Accelerator Sensor 23 Brake Pressure Sensor 32 Microphone 50 Alarm Device 55 Operation Mode Change Switch 56 Steering Switch 60 Travel Control ECU 61 Engine control unit 62 Brake control unit 63 Vehicle speed acquisition unit (vehicle speed acquisition means) 64 Accelerator opening acquisition unit 65 Brake operation acquisition unit 66 Steering angle acquisition unit 70 Driving assistance ECU 71 operation state control unit 73 microphone control unit 75 intersection determination unit 76 support determination unit (support determination means) 80 Support execution unit (driving support means) 81 Alarm control unit 83 Notification control unit 100 Open space 102 Shield
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
図1は、実施形態に係る運転支援装置を備える車両の概略図である。実施形態に係る運転支援装置2を備える車両1は、内燃機関であるエンジン5が動力源として搭載され、エンジン5で発生する動力が変速装置6等の駆動装置を経由して車輪3に伝達されることにより、走行可能になっている。また、車両1には、車輪3を制動することにより走行中の車両1を制動する制動手段であるブレーキ装置が備えられており、ブレーキ装置を作動させる際における油圧を制御するブレーキ油圧制御装置10が設けられている。また、駆動装置には、駆動装置の出力軸の回転速度を検出することを介して車速を検出する車速検出手段である車速センサ21が設けられている。
なお、上述した実施形態に係る運転支援装置2では、環境情報取得手段としてマイク32が用いられているが、自車両1の周辺の環境情報を取得する環境情報取得手段には、マイク32に加えて、他の環境情報取得手段を用いてもよい。この場合、他の環境情報取得手段としては、例えば、自車両1の周囲を撮影可能なカメラや、電磁波や赤外線、レーザー等の検出波を用いて対象物を検出するレーダーを用いてもよい。環境情報取得手段は、遮蔽物102等の障害物の有無の判断に用いる音情報を検出するマイク32を有していればよく、さらに、マイク32以外で、自車両1の周囲の環境情報を取得することができるものを用いることにより、より精度よく自車両1の周囲の環境情報を取得することができる。
2 運転支援装置
5 エンジン
10 ブレーキ油圧制御装置
12 EPS装置
15 アクセルペダル
16 ブレーキペダル
21 車速センサ
22 アクセルセンサ
23 ブレーキ圧センサ
32 マイク
50 警報装置
55 作動モード切替スイッチ
56 ステアリングスイッチ
60 走行制御ECU
61 エンジン制御部
62 ブレーキ制御部
63 車速取得部(車速取得手段)
64 アクセル開度取得部
65 ブレーキ操作取得部
66 舵角取得部
70 運転支援ECU
71 動作状態制御部
73 マイク制御部
75 交差点判定部
76 支援決定部(支援決定手段)
80 支援実行部(運転支援手段)
81 警報制御部
83 報知制御部
100 開放空間
102 遮蔽物
Claims (4)
- 自車両に搭載され、前記自車両の周囲の音情報を検出するマイクと、
運転支援を実行する運転支援手段と、
前記マイクで検出した前記音情報に含まれる、前記自車両から発せられた音の反響音に基づいて前記運転支援の実行の可否、及び前記運転支援の実行時における支援レベルを決定する支援決定手段と、
を備えることを特徴とする運転支援装置。 - 前記支援決定手段は、前記マイクによる前記音情報に含まれる、前記自車両から発せられた音の反響音に基づいて、前記自車両周辺に障害物が存在すると判断した場合に、前記運転支援を実行するとの決定を行う請求項1に記載の運転支援装置。
- 前記支援決定手段は、前記障害物が存在すると判断した場合には、前記運転支援を実行し、前記障害物が存在しないと判断した場合には、前記運転支援を実行しないとの決定を行う請求項2に記載の運転支援装置。
- 前記支援決定手段は、前記障害物が存在すると判断した場合には、前記障害物が存在しないと判断した場合と比較して前記支援レベルを強くするように決定する請求項2に記載の運転支援装置。
Priority Applications (5)
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JP2014507182A JP6024741B2 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
PCT/JP2012/058383 WO2013145216A1 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
CN201280072092.3A CN104221067A (zh) | 2012-03-29 | 2012-03-29 | 驾驶支援装置 |
US14/388,606 US20150051753A1 (en) | 2012-03-29 | 2012-03-29 | Driving assistance device |
EP12873466.2A EP2833336A4 (en) | 2012-03-29 | 2012-03-29 | DRIVING ASSISTANCE SYSTEM |
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PCT/JP2012/058383 WO2013145216A1 (ja) | 2012-03-29 | 2012-03-29 | 運転支援装置 |
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US (1) | US20150051753A1 (ja) |
EP (1) | EP2833336A4 (ja) |
JP (1) | JP6024741B2 (ja) |
CN (1) | CN104221067A (ja) |
WO (1) | WO2013145216A1 (ja) |
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WO2018066710A1 (ja) * | 2016-10-07 | 2018-04-12 | アイシン・エィ・ダブリュ株式会社 | 走行支援装置及びコンピュータプログラム |
CN109844838A (zh) * | 2016-10-25 | 2019-06-04 | 三菱电机株式会社 | 周边信息判定装置及周边信息判定方法 |
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JP7185408B2 (ja) * | 2018-03-02 | 2022-12-07 | 本田技研工業株式会社 | 車両制御装置 |
JP7087919B2 (ja) * | 2018-10-31 | 2022-06-21 | トヨタ自動車株式会社 | 運転支援装置、車両、運転支援方法およびプログラム |
DE102018221449A1 (de) | 2018-12-11 | 2020-06-18 | Conti Temic Microelectronic Gmbh | Sensorsystem zur Objekterkennung |
KR102566412B1 (ko) | 2019-01-25 | 2023-08-14 | 삼성전자주식회사 | 음향 센서를 포함한 자동차 주행 제어 장치 및 그 방법 |
JP7243567B2 (ja) * | 2019-10-18 | 2023-03-22 | トヨタ自動車株式会社 | 変更操作支援装置 |
JP7322728B2 (ja) * | 2020-01-30 | 2023-08-08 | いすゞ自動車株式会社 | 報知装置 |
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Also Published As
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EP2833336A4 (en) | 2015-09-02 |
JP6024741B2 (ja) | 2016-11-16 |
JPWO2013145216A1 (ja) | 2015-08-03 |
EP2833336A1 (en) | 2015-02-04 |
CN104221067A (zh) | 2014-12-17 |
US20150051753A1 (en) | 2015-02-19 |
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